Robust predictive control of discrete-time systems with actuating delay

In this paper robust constrained regulation problem for a discrete-time system with actuation delay has been considered. Persistent but bounded measurement noise and disturbance input are present. Furthermore, a polytopic bound on estimation error is assumed to be given. A linear estimator is designed such that the given polytopic estimation error bound is achievable. Actuating delay is compensated with the use of a linear propagator. The information obtained from this propagator is then used to design a set-theoretic model predictive controller which guarantees ultimately bounded steady state response as well as robust constraint satisfaction.